Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. The affine transformation is used to transform the point before clipping it using the unit cube centered at origin and with an extend of -1 to +1 in each dimension. More...

#include <box_clipper3D.h>

Inheritance diagram for pcl::BoxClipper3D< PointT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const BoxClipper3D< PointT > >	ConstPtr
typedef boost::shared_ptr < BoxClipper3D< PointT > >	Ptr
Public Member Functions
	BoxClipper3D (const Eigen::Affine3f &transformation)
	Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
	BoxClipper3D (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
	creates a BoxClipper object with a scaled box in general pose
virtual bool	clipLineSegment3D (PointT &from, PointT &to) const
virtual void	clipPlanarPolygon3D (std::vector< PointT > &polygon) const
virtual void	clipPlanarPolygon3D (const std::vector< PointT > &polygon, std::vector< PointT > &clipped_polygon) const
virtual bool	clipPoint3D (const PointT &point) const
	interface to clip a single point
virtual void	clipPointCloud3D (const pcl::PointCloud< PointT > &cloud_in, std::vector< int > &clipped, const std::vector< int > &indices=std::vector< int >()) const
	interface to clip a point cloud
virtual Clipper3D< PointT > *	clone () const
	polymorphic method to clone the underlying clipper with its parameters.
void	setTransformation (const Eigen::Affine3f &transformation)
	Set the affine transformation.
void	setTransformation (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
	sets the box in general pose given by the orientation position and size
virtual	~BoxClipper3D () throw ()
	virtual destructor
Protected Member Functions
float	getDistance (const PointT &point) const
void	transformPoint (const PointT &pointIn, PointT &pointOut) const
Private Attributes
Eigen::Affine3f	transformation_
	the affine transformation that is applied before clipping is done on the unit cube.

Detailed Description

template<typename PointT>
class pcl::BoxClipper3D< PointT >

Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. The affine transformation is used to transform the point before clipping it using the unit cube centered at origin and with an extend of -1 to +1 in each dimension.

Author:: Suat Gedikli <gedikli@willowgarage.com>

Definition at line 51 of file box_clipper3D.h.

Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr< const BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::ConstPtr

Reimplemented from pcl::Clipper3D< PointT >.

Definition at line 56 of file box_clipper3D.h.

template<typename PointT >

typedef boost::shared_ptr< BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::Ptr

Reimplemented from pcl::Clipper3D< PointT >.

Definition at line 55 of file box_clipper3D.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::BoxClipper3D< PointT >::BoxClipper3D ( const Eigen::Affine3f & transformation )

Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.

Author:: Suat Gedikli <gedikli@willowgarage.com>

Parameters:

[in] transformation the 3x3 affine transformation matrix that is used to describe the unit cube

Definition at line 41 of file box_clipper3D.hpp.

template<typename PointT >

pcl::BoxClipper3D< PointT >::BoxClipper3D	(	const Eigen::Vector3f &	rodrigues,
		const Eigen::Vector3f &	translation,
		const Eigen::Vector3f &	box_size
	)

creates a BoxClipper object with a scaled box in general pose

Parameters:

[in]	rodrigues	the rotation axis and angle given by the vector direction and length respectively
[in]	translation	the position of the box center
[in]	box_size	the size of the box for each dimension

Definition at line 49 of file box_clipper3D.hpp.

template<typename PointT >

pcl::BoxClipper3D< PointT >::~BoxClipper3D ( ) throw () [virtual]

virtual destructor

Definition at line 56 of file box_clipper3D.hpp.

Member Function Documentation

template<typename PointT >

bool pcl::BoxClipper3D< PointT >::clipLineSegment3D	(	PointT &	point1,
		PointT &	point2
	)		const `[virtual]`

Attention:: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 133 of file box_clipper3D.hpp.

template<typename PointT >

void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D ( std::vector< PointT > & polygon ) const [virtual]

Attention:: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 197 of file box_clipper3D.hpp.

template<typename PointT >

void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D	(	const std::vector< PointT > &	polygon,
		std::vector< PointT > &	clipped_polygon
	)		const `[virtual]`

Attention:: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 186 of file box_clipper3D.hpp.

template<typename PointT >

bool pcl::BoxClipper3D< PointT >::clipPoint3D ( const PointT & point ) const [virtual]

interface to clip a single point

Parameters:

[in] point the point to check against

Returns:: true, it point still exists, false if its clipped

Implements pcl::Clipper3D< PointT >.

Definition at line 112 of file box_clipper3D.hpp.

template<typename PointT >

void pcl::BoxClipper3D< PointT >::clipPointCloud3D	(	const pcl::PointCloud< PointT > &	cloud_in,
		std::vector< int > &	clipped,
		const std::vector< int > &	indices = `std::vector< int >()`
	)		const `[virtual]`

interface to clip a point cloud

Parameters:

[in]	cloud_in	input point cloud
[out]	clipped	indices of points that remain after clipping the input cloud
[in]	indices	the indices of points in the point cloud to be clipped.

Returns:: list of indices of remaining points after clipping.

Implements pcl::Clipper3D< PointT >.

Definition at line 206 of file box_clipper3D.hpp.

template<typename PointT >

pcl::Clipper3D< PointT > * pcl::BoxClipper3D< PointT >::clone ( ) const [virtual]

polymorphic method to clone the underlying clipper with its parameters.

Returns:: the new clipper object from the specific subclass with all its parameters.

Implements pcl::Clipper3D< PointT >.

Definition at line 78 of file box_clipper3D.hpp.

template<typename PointT >

float pcl::BoxClipper3D< PointT >::getDistance ( const PointT & point ) const [protected]

template<typename PointT >

void pcl::BoxClipper3D< PointT >::setTransformation ( const Eigen::Affine3f & transformation )

Set the affine transformation.

Parameters:

[in] transformation

Definition at line 62 of file box_clipper3D.hpp.

template<typename PointT >

void pcl::BoxClipper3D< PointT >::setTransformation	(	const Eigen::Vector3f &	rodrigues,
		const Eigen::Vector3f &	translation,
		const Eigen::Vector3f &	box_size
	)

sets the box in general pose given by the orientation position and size

Parameters:

[in]	rodrigues	the rotation axis and angle given by the vector direction and length respectively
[in]	translation	the position of the box center
[in]	box_size	the size of the box for each dimension

Definition at line 70 of file box_clipper3D.hpp.

template<typename PointT >

void pcl::BoxClipper3D< PointT >::transformPoint	(	const PointT &	pointIn,
		PointT &	pointOut
	)		const `[protected]`

Definition at line 85 of file box_clipper3D.hpp.

Member Data Documentation

template<typename PointT >

Eigen::Affine3f pcl::BoxClipper3D< PointT >::transformation_ [private]

the affine transformation that is applied before clipping is done on the unit cube.

Definition at line 118 of file box_clipper3D.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointT> class pcl::BoxClipper3D< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::BoxClipper3D< PointT >